\hypertarget{class_path_planner}{}\section{Path\+Planner Class Reference}
\label{class_path_planner}\index{Path\+Planner@{Path\+Planner}}


{\ttfamily \#include $<$Poly\+Traj\+Gen.\+h$>$}

\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hyperlink{class_path_planner_a376f30d795cfe0a40f8923f49336f7da}{Path\+Planner} ()
\item 
bool \hyperlink{class_path_planner_a58b48f13a0beefa08e584040d4e29bae}{is\+\_\+spline\+\_\+valid} ()
\item 
void \hyperlink{class_path_planner_a197058bceddd7a22cd23c74239562754}{path\+\_\+gen} (const \hyperlink{_poly_traj_gen_8h_a37d0493e73d8ef72a2405596ad6cee0c}{Time\+Series} \&knots, const nav\+\_\+msgs\+::\+Path \&waypoints, const geometry\+\_\+msgs\+::\+Twist \&v0, const geometry\+\_\+msgs\+::\+Twist \&a0, \hyperlink{struct_traj_gen_opts}{Traj\+Gen\+Opts} opt)
\item 
\hyperlink{struct_q_p__form__xyz}{Q\+P\+\_\+form\+\_\+xyz} \hyperlink{class_path_planner_a4b5f5beea2c380ae4340f65dd1d5bd10}{qp\+\_\+gen} (const \hyperlink{_poly_traj_gen_8h_a37d0493e73d8ef72a2405596ad6cee0c}{Time\+Series} \&knots, const nav\+\_\+msgs\+::\+Path \&waypoints, const geometry\+\_\+msgs\+::\+Twist \&v0, const geometry\+\_\+msgs\+::\+Twist \&a0, \hyperlink{struct_traj_gen_opts}{Traj\+Gen\+Opts} opt)
\item 
nav\+\_\+msgs\+::\+Path \hyperlink{class_path_planner_a36d08d3831066c76be5195ed99fa1f68}{get\+\_\+path} ()
\item 
void \hyperlink{class_path_planner_ad231acc2bce7d5e143fa49c69515c4a9}{horizon\+\_\+eval\+\_\+spline} (int N\+\_\+eval\+\_\+interval)
\item 
nav\+\_\+msgs\+::\+Path \hyperlink{class_path_planner_a85541c4c74f7b2b199d85c5739db51ad}{sub\+\_\+horizon\+\_\+eval\+\_\+spline} (int N\+\_\+eval\+\_\+interval, double t\+\_\+start, double t\+\_\+final)
\item 
visualization\+\_\+msgs\+::\+Marker \hyperlink{class_path_planner_aadd23ca1fbe79abb2a6fc6983fb3f639}{get\+\_\+safe\+\_\+corridor\+\_\+marker} ()
\item 
visualization\+\_\+msgs\+::\+Marker\+Array \hyperlink{class_path_planner_a5d4db201bdb6b20bf6a9a46a15c354e2}{get\+\_\+safe\+\_\+corridor\+\_\+single\+\_\+marker} ()
\item 
visualization\+\_\+msgs\+::\+Marker \hyperlink{class_path_planner_a5c9fd37284fa20b93f933ce53c932fc6}{get\+\_\+knots\+\_\+marker} ()
\item 
Point \hyperlink{class_path_planner_aa12888c52d7cb2d429c3782060b9b45e}{point\+\_\+eval\+\_\+spline} (double t\+\_\+eval)
\item 
Twist \hyperlink{class_path_planner_ae31bac84392ea0fbe59edfc7582215e0}{vel\+\_\+eval\+\_\+spline} (double t\+\_\+eval)
\item 
Twist \hyperlink{class_path_planner_ad1ad0eb3d19d6f1e9ab921e835361c14}{accel\+\_\+eval\+\_\+spline} (double t\+\_\+eval)
\item 
\hyperlink{class_poly_spline}{Poly\+Spline} \hyperlink{class_path_planner_a35e8872f5ffc5fc3227dc45f9f969a85}{get\+\_\+solution} (Vector\+Xd sol, int poly\+\_\+order, int n\+\_\+seg)
\item 
Vector\+Xd \hyperlink{class_path_planner_a6fd581289799d1daac012050fb712a0c}{solveqp} (\hyperlink{struct_q_p__form}{Q\+P\+\_\+form} qp\+\_\+prob, bool \&is\+\_\+ok)
\item 
\hyperlink{struct_constraint}{Constraint} \hyperlink{class_path_planner_a1d6a959095513585bfc10468f7b8d180}{get\+\_\+init\+\_\+constraint\+\_\+mat} (double x0, double v0, double a0, \hyperlink{struct_traj_gen_opts}{Traj\+Gen\+Opts} option)
\item 
\hyperlink{struct_constraint}{Constraint} \hyperlink{class_path_planner_aff99e738bd54babad38867d7713e5a51}{get\+\_\+continuity\+\_\+constraint\+\_\+mat} (double dt1, double dt2, \hyperlink{struct_traj_gen_opts}{Traj\+Gen\+Opts} option)
\end{DoxyCompactItemize}


\subsection{Detailed Description}


Definition at line 106 of file Poly\+Traj\+Gen.\+h.



\subsection{Constructor \& Destructor Documentation}
\index{Path\+Planner@{Path\+Planner}!Path\+Planner@{Path\+Planner}}
\index{Path\+Planner@{Path\+Planner}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{Path\+Planner()}{PathPlanner()}}]{\setlength{\rightskip}{0pt plus 5cm}Path\+Planner\+::\+Path\+Planner (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_a376f30d795cfe0a40f8923f49336f7da}{}\label{class_path_planner_a376f30d795cfe0a40f8923f49336f7da}


Definition at line 4 of file Poly\+Traj\+Gen.\+cpp.



\subsection{Member Function Documentation}
\index{Path\+Planner@{Path\+Planner}!accel\+\_\+eval\+\_\+spline@{accel\+\_\+eval\+\_\+spline}}
\index{accel\+\_\+eval\+\_\+spline@{accel\+\_\+eval\+\_\+spline}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{accel\+\_\+eval\+\_\+spline(double t\+\_\+eval)}{accel_eval_spline(double t_eval)}}]{\setlength{\rightskip}{0pt plus 5cm}geometry\+\_\+msgs\+::\+Twist Path\+Planner\+::accel\+\_\+eval\+\_\+spline (
\begin{DoxyParamCaption}
\item[{double}]{t\+\_\+eval}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_ad1ad0eb3d19d6f1e9ab921e835361c14}{}\label{class_path_planner_ad1ad0eb3d19d6f1e9ab921e835361c14}


Definition at line 534 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=315pt]{class_path_planner_ad1ad0eb3d19d6f1e9ab921e835361c14_cgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!get\+\_\+continuity\+\_\+constraint\+\_\+mat@{get\+\_\+continuity\+\_\+constraint\+\_\+mat}}
\index{get\+\_\+continuity\+\_\+constraint\+\_\+mat@{get\+\_\+continuity\+\_\+constraint\+\_\+mat}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{get\+\_\+continuity\+\_\+constraint\+\_\+mat(double dt1, double dt2, Traj\+Gen\+Opts option)}{get_continuity_constraint_mat(double dt1, double dt2, TrajGenOpts option)}}]{\setlength{\rightskip}{0pt plus 5cm}{\bf Constraint} Path\+Planner\+::get\+\_\+continuity\+\_\+constraint\+\_\+mat (
\begin{DoxyParamCaption}
\item[{double}]{dt1, }
\item[{double}]{dt2, }
\item[{{\bf Traj\+Gen\+Opts}}]{option}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_aff99e738bd54babad38867d7713e5a51}{}\label{class_path_planner_aff99e738bd54babad38867d7713e5a51}


Definition at line 727 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=348pt]{class_path_planner_aff99e738bd54babad38867d7713e5a51_cgraph}
\end{center}
\end{figure}




Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_aff99e738bd54babad38867d7713e5a51_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!get\+\_\+init\+\_\+constraint\+\_\+mat@{get\+\_\+init\+\_\+constraint\+\_\+mat}}
\index{get\+\_\+init\+\_\+constraint\+\_\+mat@{get\+\_\+init\+\_\+constraint\+\_\+mat}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{get\+\_\+init\+\_\+constraint\+\_\+mat(double x0, double v0, double a0, Traj\+Gen\+Opts option)}{get_init_constraint_mat(double x0, double v0, double a0, TrajGenOpts option)}}]{\setlength{\rightskip}{0pt plus 5cm}{\bf Constraint} Path\+Planner\+::get\+\_\+init\+\_\+constraint\+\_\+mat (
\begin{DoxyParamCaption}
\item[{double}]{x0, }
\item[{double}]{v0, }
\item[{double}]{a0, }
\item[{{\bf Traj\+Gen\+Opts}}]{option}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_a1d6a959095513585bfc10468f7b8d180}{}\label{class_path_planner_a1d6a959095513585bfc10468f7b8d180}


Definition at line 676 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=264pt]{class_path_planner_a1d6a959095513585bfc10468f7b8d180_cgraph}
\end{center}
\end{figure}




Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a1d6a959095513585bfc10468f7b8d180_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!get\+\_\+knots\+\_\+marker@{get\+\_\+knots\+\_\+marker}}
\index{get\+\_\+knots\+\_\+marker@{get\+\_\+knots\+\_\+marker}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{get\+\_\+knots\+\_\+marker()}{get_knots_marker()}}]{\setlength{\rightskip}{0pt plus 5cm}visualization\+\_\+msgs\+::\+Marker Path\+Planner\+::get\+\_\+knots\+\_\+marker (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_a5c9fd37284fa20b93f933ce53c932fc6}{}\label{class_path_planner_a5c9fd37284fa20b93f933ce53c932fc6}


Definition at line 703 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a5c9fd37284fa20b93f933ce53c932fc6_cgraph}
\end{center}
\end{figure}




Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=302pt]{class_path_planner_a5c9fd37284fa20b93f933ce53c932fc6_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!get\+\_\+path@{get\+\_\+path}}
\index{get\+\_\+path@{get\+\_\+path}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{get\+\_\+path()}{get_path()}}]{\setlength{\rightskip}{0pt plus 5cm}nav\+\_\+msgs\+::\+Path Path\+Planner\+::get\+\_\+path (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{class_path_planner_a36d08d3831066c76be5195ed99fa1f68}{}\label{class_path_planner_a36d08d3831066c76be5195ed99fa1f68}


Definition at line 127 of file Poly\+Traj\+Gen.\+h.



Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a36d08d3831066c76be5195ed99fa1f68_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!get\+\_\+safe\+\_\+corridor\+\_\+marker@{get\+\_\+safe\+\_\+corridor\+\_\+marker}}
\index{get\+\_\+safe\+\_\+corridor\+\_\+marker@{get\+\_\+safe\+\_\+corridor\+\_\+marker}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{get\+\_\+safe\+\_\+corridor\+\_\+marker()}{get_safe_corridor_marker()}}]{\setlength{\rightskip}{0pt plus 5cm}visualization\+\_\+msgs\+::\+Marker Path\+Planner\+::get\+\_\+safe\+\_\+corridor\+\_\+marker (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{class_path_planner_aadd23ca1fbe79abb2a6fc6983fb3f639}{}\label{class_path_planner_aadd23ca1fbe79abb2a6fc6983fb3f639}


Definition at line 131 of file Poly\+Traj\+Gen.\+h.



Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=296pt]{class_path_planner_aadd23ca1fbe79abb2a6fc6983fb3f639_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!get\+\_\+safe\+\_\+corridor\+\_\+single\+\_\+marker@{get\+\_\+safe\+\_\+corridor\+\_\+single\+\_\+marker}}
\index{get\+\_\+safe\+\_\+corridor\+\_\+single\+\_\+marker@{get\+\_\+safe\+\_\+corridor\+\_\+single\+\_\+marker}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{get\+\_\+safe\+\_\+corridor\+\_\+single\+\_\+marker()}{get_safe_corridor_single_marker()}}]{\setlength{\rightskip}{0pt plus 5cm}visualization\+\_\+msgs\+::\+Marker\+Array Path\+Planner\+::get\+\_\+safe\+\_\+corridor\+\_\+single\+\_\+marker (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{class_path_planner_a5d4db201bdb6b20bf6a9a46a15c354e2}{}\label{class_path_planner_a5d4db201bdb6b20bf6a9a46a15c354e2}


Definition at line 132 of file Poly\+Traj\+Gen.\+h.



Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=303pt]{class_path_planner_a5d4db201bdb6b20bf6a9a46a15c354e2_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!get\+\_\+solution@{get\+\_\+solution}}
\index{get\+\_\+solution@{get\+\_\+solution}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{get\+\_\+solution(\+Vector\+Xd sol, int poly\+\_\+order, int n\+\_\+seg)}{get_solution(VectorXd sol, int poly_order, int n_seg)}}]{\setlength{\rightskip}{0pt plus 5cm}{\bf Poly\+Spline} Path\+Planner\+::get\+\_\+solution (
\begin{DoxyParamCaption}
\item[{Vector\+Xd}]{sol, }
\item[{int}]{poly\+\_\+order, }
\item[{int}]{n\+\_\+seg}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_a35e8872f5ffc5fc3227dc45f9f969a85}{}\label{class_path_planner_a35e8872f5ffc5fc3227dc45f9f969a85}


Definition at line 643 of file Poly\+Traj\+Gen.\+cpp.



Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a35e8872f5ffc5fc3227dc45f9f969a85_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!horizon\+\_\+eval\+\_\+spline@{horizon\+\_\+eval\+\_\+spline}}
\index{horizon\+\_\+eval\+\_\+spline@{horizon\+\_\+eval\+\_\+spline}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{horizon\+\_\+eval\+\_\+spline(int N\+\_\+eval\+\_\+interval)}{horizon_eval_spline(int N_eval_interval)}}]{\setlength{\rightskip}{0pt plus 5cm}void Path\+Planner\+::horizon\+\_\+eval\+\_\+spline (
\begin{DoxyParamCaption}
\item[{int}]{N\+\_\+eval\+\_\+interval}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_ad231acc2bce7d5e143fa49c69515c4a9}{}\label{class_path_planner_ad231acc2bce7d5e143fa49c69515c4a9}


Definition at line 450 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=264pt]{class_path_planner_ad231acc2bce7d5e143fa49c69515c4a9_cgraph}
\end{center}
\end{figure}




Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_ad231acc2bce7d5e143fa49c69515c4a9_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!is\+\_\+spline\+\_\+valid@{is\+\_\+spline\+\_\+valid}}
\index{is\+\_\+spline\+\_\+valid@{is\+\_\+spline\+\_\+valid}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{is\+\_\+spline\+\_\+valid()}{is_spline_valid()}}]{\setlength{\rightskip}{0pt plus 5cm}bool Path\+Planner\+::is\+\_\+spline\+\_\+valid (
\begin{DoxyParamCaption}
{}
\end{DoxyParamCaption}
)\hspace{0.3cm}{\ttfamily [inline]}}\hypertarget{class_path_planner_a58b48f13a0beefa08e584040d4e29bae}{}\label{class_path_planner_a58b48f13a0beefa08e584040d4e29bae}


Definition at line 123 of file Poly\+Traj\+Gen.\+h.



Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a58b48f13a0beefa08e584040d4e29bae_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!path\+\_\+gen@{path\+\_\+gen}}
\index{path\+\_\+gen@{path\+\_\+gen}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{path\+\_\+gen(const Time\+Series \&knots, const nav\+\_\+msgs\+::\+Path \&waypoints, const geometry\+\_\+msgs\+::\+Twist \&v0, const geometry\+\_\+msgs\+::\+Twist \&a0, Traj\+Gen\+Opts opt)}{path_gen(const TimeSeries &knots, const nav_msgs::Path &waypoints, const geometry_msgs::Twist &v0, const geometry_msgs::Twist &a0, TrajGenOpts opt)}}]{\setlength{\rightskip}{0pt plus 5cm}void Path\+Planner\+::path\+\_\+gen (
\begin{DoxyParamCaption}
\item[{const {\bf Time\+Series} \&}]{knots, }
\item[{const nav\+\_\+msgs\+::\+Path \&}]{waypoints, }
\item[{const geometry\+\_\+msgs\+::\+Twist \&}]{v0, }
\item[{const geometry\+\_\+msgs\+::\+Twist \&}]{a0, }
\item[{{\bf Traj\+Gen\+Opts}}]{opt}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_a197058bceddd7a22cd23c74239562754}{}\label{class_path_planner_a197058bceddd7a22cd23c74239562754}


Definition at line 54 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a197058bceddd7a22cd23c74239562754_cgraph}
\end{center}
\end{figure}




Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a197058bceddd7a22cd23c74239562754_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!point\+\_\+eval\+\_\+spline@{point\+\_\+eval\+\_\+spline}}
\index{point\+\_\+eval\+\_\+spline@{point\+\_\+eval\+\_\+spline}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{point\+\_\+eval\+\_\+spline(double t\+\_\+eval)}{point_eval_spline(double t_eval)}}]{\setlength{\rightskip}{0pt plus 5cm}geometry\+\_\+msgs\+::\+Point Path\+Planner\+::point\+\_\+eval\+\_\+spline (
\begin{DoxyParamCaption}
\item[{double}]{t\+\_\+eval}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_aa12888c52d7cb2d429c3782060b9b45e}{}\label{class_path_planner_aa12888c52d7cb2d429c3782060b9b45e}


Definition at line 491 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=313pt]{class_path_planner_aa12888c52d7cb2d429c3782060b9b45e_cgraph}
\end{center}
\end{figure}




Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_aa12888c52d7cb2d429c3782060b9b45e_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!qp\+\_\+gen@{qp\+\_\+gen}}
\index{qp\+\_\+gen@{qp\+\_\+gen}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{qp\+\_\+gen(const Time\+Series \&knots, const nav\+\_\+msgs\+::\+Path \&waypoints, const geometry\+\_\+msgs\+::\+Twist \&v0, const geometry\+\_\+msgs\+::\+Twist \&a0, Traj\+Gen\+Opts opt)}{qp_gen(const TimeSeries &knots, const nav_msgs::Path &waypoints, const geometry_msgs::Twist &v0, const geometry_msgs::Twist &a0, TrajGenOpts opt)}}]{\setlength{\rightskip}{0pt plus 5cm}{\bf Q\+P\+\_\+form\+\_\+xyz} Path\+Planner\+::qp\+\_\+gen (
\begin{DoxyParamCaption}
\item[{const {\bf Time\+Series} \&}]{knots, }
\item[{const nav\+\_\+msgs\+::\+Path \&}]{waypoints, }
\item[{const geometry\+\_\+msgs\+::\+Twist \&}]{v0, }
\item[{const geometry\+\_\+msgs\+::\+Twist \&}]{a0, }
\item[{{\bf Traj\+Gen\+Opts}}]{opt}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_a4b5f5beea2c380ae4340f65dd1d5bd10}{}\label{class_path_planner_a4b5f5beea2c380ae4340f65dd1d5bd10}


Definition at line 107 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a4b5f5beea2c380ae4340f65dd1d5bd10_cgraph}
\end{center}
\end{figure}




Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a4b5f5beea2c380ae4340f65dd1d5bd10_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!solveqp@{solveqp}}
\index{solveqp@{solveqp}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{solveqp(\+Q\+P\+\_\+form qp\+\_\+prob, bool \&is\+\_\+ok)}{solveqp(QP_form qp_prob, bool &is_ok)}}]{\setlength{\rightskip}{0pt plus 5cm}Vector\+Xd Path\+Planner\+::solveqp (
\begin{DoxyParamCaption}
\item[{{\bf Q\+P\+\_\+form}}]{qp\+\_\+prob, }
\item[{bool \&}]{is\+\_\+ok}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_a6fd581289799d1daac012050fb712a0c}{}\label{class_path_planner_a6fd581289799d1daac012050fb712a0c}


Definition at line 552 of file Poly\+Traj\+Gen.\+cpp.



Here is the caller graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=350pt]{class_path_planner_a6fd581289799d1daac012050fb712a0c_icgraph}
\end{center}
\end{figure}


\index{Path\+Planner@{Path\+Planner}!sub\+\_\+horizon\+\_\+eval\+\_\+spline@{sub\+\_\+horizon\+\_\+eval\+\_\+spline}}
\index{sub\+\_\+horizon\+\_\+eval\+\_\+spline@{sub\+\_\+horizon\+\_\+eval\+\_\+spline}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{sub\+\_\+horizon\+\_\+eval\+\_\+spline(int N\+\_\+eval\+\_\+interval, double t\+\_\+start, double t\+\_\+final)}{sub_horizon_eval_spline(int N_eval_interval, double t_start, double t_final)}}]{\setlength{\rightskip}{0pt plus 5cm}nav\+\_\+msgs\+::\+Path Path\+Planner\+::sub\+\_\+horizon\+\_\+eval\+\_\+spline (
\begin{DoxyParamCaption}
\item[{int}]{N\+\_\+eval\+\_\+interval, }
\item[{double}]{t\+\_\+start, }
\item[{double}]{t\+\_\+final}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_a85541c4c74f7b2b199d85c5739db51ad}{}\label{class_path_planner_a85541c4c74f7b2b199d85c5739db51ad}
\index{Path\+Planner@{Path\+Planner}!vel\+\_\+eval\+\_\+spline@{vel\+\_\+eval\+\_\+spline}}
\index{vel\+\_\+eval\+\_\+spline@{vel\+\_\+eval\+\_\+spline}!Path\+Planner@{Path\+Planner}}
\subsubsection[{\texorpdfstring{vel\+\_\+eval\+\_\+spline(double t\+\_\+eval)}{vel_eval_spline(double t_eval)}}]{\setlength{\rightskip}{0pt plus 5cm}geometry\+\_\+msgs\+::\+Twist Path\+Planner\+::vel\+\_\+eval\+\_\+spline (
\begin{DoxyParamCaption}
\item[{double}]{t\+\_\+eval}
\end{DoxyParamCaption}
)}\hypertarget{class_path_planner_ae31bac84392ea0fbe59edfc7582215e0}{}\label{class_path_planner_ae31bac84392ea0fbe59edfc7582215e0}


Definition at line 518 of file Poly\+Traj\+Gen.\+cpp.



Here is the call graph for this function\+:
\nopagebreak
\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[width=328pt]{class_path_planner_ae31bac84392ea0fbe59edfc7582215e0_cgraph}
\end{center}
\end{figure}




The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
include/traj\+\_\+gen/\hyperlink{_poly_traj_gen_8h}{Poly\+Traj\+Gen.\+h}\item 
src/\hyperlink{_poly_traj_gen_8cpp}{Poly\+Traj\+Gen.\+cpp}\end{DoxyCompactItemize}
